CN204149161U - A kind of manipulator teaching 3D sensing handle - Google Patents
A kind of manipulator teaching 3D sensing handle Download PDFInfo
- Publication number
- CN204149161U CN204149161U CN201420579247.9U CN201420579247U CN204149161U CN 204149161 U CN204149161 U CN 204149161U CN 201420579247 U CN201420579247 U CN 201420579247U CN 204149161 U CN204149161 U CN 204149161U
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- CN
- China
- Prior art keywords
- handle
- microswitch
- axle
- end cap
- manipulator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of manipulator teaching 3D sensing handle, comprise handle base, cross-arm, sleeve, end cap, handle axle, axial back-moving spring, spring fastening, microswitch, press button, selector switch and axle addendum cone, described sleeve is connected with the end cap being positioned at upper and lower two ends by spring fastening, and the end cap at upper and lower two ends is all connected with handle base by cross-arm; One group of microswitch passes through microswitch support installing in end cap; Handle axle is positioned at the end of sleeve, and the axle addendum cone and the microswitch that are positioned at handle axle top keep in touch; Axial back-moving spring is between handle axle and spring fastening; One group of press button and selector switch are arranged on handle base; Microswitch, press button are connected with manipulator control system with selector switch.The utility model is used for only needing single one-handed performance when carrying out action teaching to manipulator, and man-machine interface is friendly, action teaching is directly perceived, teaching efficiency is high.
Description
Technical field
The utility model belongs to industrial automation, is specifically related to a kind of manipulator teaching 3D sensing handle applied in the on-the-spot teaching of industry mechanical arm.
Background technology
At industrial automation, various manipulator is used widely.Manipulator is before operation of putting into production, and need operator to carry out movement locus teaching to it, the control system record teaching movement locus of manipulator, after this manipulator just can reproduce the movement locus of teaching in advance in production run state.The universal way of current industry mechanical arm/robot site action teaching adopts the teaching control device (be commonly called as teach box) online with manipulator.There is distinct disadvantage in this teach mode: the notice of operator must at manipulator, switch between workpiece and teaching control device, operator needs both hands to operate simultaneously, and numerous button on teaching control device and functional switch also easily cause operate miss and often need repeatedly to correct, the efficiency of this teach programming mode is extremely low, to compound action programming and the collaborative programming of multi-robot especially inconvenience.
Therefore, the on-the-spot on-line teaching of current industry mechanical arm/robot needs the technological means that a kind of man-machine interface is friendly, teach programming efficiency is high.
Summary of the invention
In order to solve the defect existed in prior art, the purpose of this utility model is to provide a kind of manipulator teaching 3D sensing handle, adopts that this 3D sensing handle man-machine interface is friendly, teach programming efficiency is high.
The purpose of this utility model is achieved through the following technical solutions:
A kind of manipulator teaching 3D sensing handle, it is characterized in that: this 3D sensing handle comprises handle base, cross-arm, sleeve, end cap, handle axle, axial back-moving spring, spring fastening, microswitch, press button, selector switch and axle addendum cone, described sleeve is connected with the end cap being positioned at upper and lower two ends by spring fastening, and the end cap at upper and lower two ends is all connected with handle base by cross-arm; One group of microswitch passes through microswitch support installing in end cap; Handle axle is positioned at the end of sleeve, and the axle addendum cone and the microswitch that are positioned at handle axle top keep in touch; Axial back-moving spring is between handle axle and spring fastening; One group of press button and selector switch are arranged on handle base; Microswitch, press button are connected with manipulator control system with selector switch.
In the utility model, one group of press button is arranged on the top of handle base, and a group selection switch is arranged on the bottom of handle base.Described handle base is arranged on the finger tip of industry mechanical arm.
Microswitch support is provided with ring stand in end cap, and one group of microswitch is arranged in end cap on ring stand, and axle addendum cone is positioned at the centre of end cap ring stand.
Further improvement of the utility model is: axial back-moving spring can adopt metal or rubber to make.
The utility model has the following advantages compared to existing technology: in the application, and 3D sensing handle is installed to the finger tip of industry mechanical arm by handle base.When carrying out action teaching to manipulator, operator holds 3D sensing handle hitching machinery hand, tractive force is delivered on microswitch by sleeve and handle axle, the signal of microswitch is controlled systems axiol-ogy and is arrived, according to the signal detected, control system judges that the teaching action of operator is intended to and controls manipulator do accompany movement.Only need single one-handed performance during for carrying out action teaching to manipulator, have that man-machine interface close friend, action teaching are directly perceived, teach programming efficiency advantages of higher.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the utility model installation site schematic diagram on a robotic arm.
Fig. 3 is the connection diagram of the utility model and manipulator control system.
Fig. 4 is A-A view in Fig. 1.
In figure, 1-manipulator, 2-3D sensing handle, 3-handle base, 4-cross-arm, 5-sleeve, 6-end cap, 7-microswitch support, 8-handle axle, the axial back-moving spring of 9-, 10-spring fastening, 11-microswitch, 12 press buttones, 13 selector switches, ring stand in 14-end cap, 15-axle addendum cone.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figure 1, a kind of manipulator teaching 3D sensing handle, comprise handle base 3, cross-arm 4, sleeve 5, end cap 6, microswitch support 7, handle axle 8, axial reset bullet pad 9, play ring stand 14, axle addendum cone 15 in advance expenditure seat 10, microswitch 11, press button 12, functional switch 13, end cap, sleeve 5 is connected with the end cap 6 being positioned at upper and lower two ends by spring fastening 10, and the end cap 6 at upper and lower two ends is all connected with handle base 3 by cross-arm 4; One group of microswitch 11 is arranged in end cap 6 by microswitch support 7; Handle axle 8 is positioned at the end of sleeve 5, and the axle addendum cone 15 being positioned at handle axle 8 top keeps in touch with microswitch 11; Axial back-moving spring 9 is between handle axle 8 and spring fastening 10; One group of press button 12 and selector switch 13 are arranged on handle base; One group of press button 12 is arranged on the top of handle base 3, and a group selection switch 13 is arranged on the bottom of handle base 3.Microswitch 11, press button 12 are connected with manipulator control system with selector switch 13.Axial back-moving spring 9 can adopt metal or rubber to make, and other parts can adopt metal or plastic production.
As shown in Figure 4, microswitch support 7 is provided with ring stand 14, one group of microswitch 11 in end cap and is arranged in end cap on ring stand 14, axle addendum cone 15 is positioned at the centre of end cap ring stand 14.
Composition graphs 1, Fig. 2 and Fig. 3.In the application, 3D sensing handle 2 is installed to the finger tip of industry mechanical arm 1 by handle base 3.When carrying out action teaching to manipulator, operator holds 3D sensing handle 2 hitching machinery hand, tractive force is delivered on microswitch 11 by sleeve 5 and handle axle 8, the signal of microswitch 11 is controlled systems axiol-ogy and is arrived, according to the signal detected, control system judges that the teaching action of operator is intended to and controls manipulator do accompany movement.Press button 12 and functional switch 13 can carry out selection and the control of certain function to the motion of manipulator.
Claims (4)
1. a manipulator teaching 3D sensing handle, it is characterized in that: this 3D sensing handle comprises handle base (3), cross-arm (4), sleeve (5), end cap (6), handle axle (8), axial back-moving spring (9), spring fastening (10), microswitch (11), press button (12), selector switch (13) and axle addendum cone (15), described sleeve (5) is connected with the end cap (6) being positioned at upper and lower two ends by spring fastening (10), and the end cap (6) at upper and lower two ends is all connected with handle base (3) by cross-arm (4); One group of microswitch (11) is arranged in end cap (6) by microswitch support (7); Handle axle (8) is positioned at the end of sleeve (5), and the axle addendum cone (15) being positioned at handle axle (8) top keeps in touch with microswitch (11); Axial back-moving spring (9) is positioned between handle axle (8) and spring fastening (10); One group of press button (12) and selector switch (13) are arranged on handle base (3); Microswitch (11), press button (12) are connected with manipulator control system with selector switch (13).
2. manipulator teaching 3D sensing handle according to claim 1, it is characterized in that: one group of press button (12) is arranged on the top of handle base (3), a group selection switch (13) is arranged on the bottom of handle base (3).
3. manipulator teaching 3D sensing handle according to claim 1, is characterized in that: described handle base (3) is arranged on the finger tip of industry mechanical arm.
4. manipulator teaching 3D sensing handle according to claim 1, it is characterized in that: on microswitch support (7), be provided with ring stand in end cap (14), one group of microswitch (11) is arranged on ring stand in end cap (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579247.9U CN204149161U (en) | 2014-10-09 | 2014-10-09 | A kind of manipulator teaching 3D sensing handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579247.9U CN204149161U (en) | 2014-10-09 | 2014-10-09 | A kind of manipulator teaching 3D sensing handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204149161U true CN204149161U (en) | 2015-02-11 |
Family
ID=52507313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420579247.9U Withdrawn - After Issue CN204149161U (en) | 2014-10-09 | 2014-10-09 | A kind of manipulator teaching 3D sensing handle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204149161U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308850A (en) * | 2014-10-09 | 2015-01-28 | 南京工业职业技术学院 | Teaching 3D (Three-Dimensional) sensing handle of manipulator |
-
2014
- 2014-10-09 CN CN201420579247.9U patent/CN204149161U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308850A (en) * | 2014-10-09 | 2015-01-28 | 南京工业职业技术学院 | Teaching 3D (Three-Dimensional) sensing handle of manipulator |
| CN104308850B (en) * | 2014-10-09 | 2015-12-23 | 南京工业职业技术学院 | A kind of manipulator teaching 3D sensing handle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150211 Effective date of abandoning: 20151223 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |